JP3776561B2 - 3D measuring endoscope device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is a three-dimensional shape measuring apparatus for measuring the three-dimensional shape of an object, more specifically, a medical endoscope to measure the shape of a stomach wall, a large intestine wall, etc., or an industrial endoscope. The present invention relates to a three-dimensional shape measuring apparatus that measures the deformation of a water pipe, a gas pipe or the like and the size of a scratch.
[0002]
[Prior art]
Conventionally, in order to measure the size and uneven shape, that is, the three-dimensional shape, by projecting the measurement light onto the object to be observed, the spot light from a semiconductor laser or the like is guided as the measurement light to the object to be observed by the optical fiber and projected. The calculation is performed by detecting how much the position of the measurement light on the object deviates from the reference value measured in advance.
[0003]
Also known is a light cutting method that uses a laser beam converted into slit light by a cylindrical lens or the like as measurement light, and calculates irregularities on the line on which the slit is projected by deformation of the slit light projected on the object to be observed. It has been.
[0004]
Furthermore, when measuring the surface shape of the object to be observed, for example, as disclosed in Japanese Patent Laid-Open No. 4-12724, scanning is performed with spot light or slit light.
[0005]
In the prior art described above, the optical system for projecting the measurement light has a fixed focus and a fixed magnification.
[0006]
There has also been proposed a system in which an optical system for projecting measurement light is configured as a probe separate from an endoscope, and the probe is inserted into a forceps channel.
[0007]
Further, in order to irradiate the subject with the measurement light, the angle of the endoscope is used to bend the tip of the endoscope and direct it toward the subject.
[0008]
[Problems to be solved by the invention]
However, since the object to be observed is a living body, it is very difficult to keep the distance between the endoscope and the object to be observed constant during the examination. There is a problem that measurement light diffuses and causes measurement errors.
[0009]
In addition, since the optical system for measuring light projection has a fixed magnification, it always measures a constant area with a constant resolution, and measures at a high speed with a reduced resolution, or measures a large area, or a high resolution. There is also a problem that it is not possible to make a selection according to the use situation of measuring a small area.
[0010]
Furthermore, when performing endoscopy, the endoscope is bent in a complicated manner depending on the site to be observed. Due to the structure of the optical fiber that guides the measurement light, the refractive index between the clad layer and the core layer slightly changes depending on the bending condition. Therefore, the projection position of the measurement light is slightly shifted, causing a measurement error.
[0011]
Further, when the optical system for projecting the measurement light is configured as a probe separate from the endoscope, a means for fixing the position of the probe is required. For example, as disclosed in JP-A-2-287311, The inner wall of the probe and forceps channel was made into a key groove shape, and the fitting was used. In this case, a general-purpose endoscope could not be used, and workability was poor.
[0012]
Furthermore, the method of using the angle operation of the endoscope to irradiate the measurement light to the subject is to match the measurement site and the irradiation range of the measurement light when the measurement area is narrowed to obtain high resolution. Becomes difficult. In addition, depending on the part to be measured, the peristaltic movement is intense, so that it is difficult to fix the measurement position, and it may cause pain to the patient if an arbitrary angle operation is performed forcibly.
[0013]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a three-dimensional measurement endoscope apparatus that can always supply an optimum measurement light and perform measurement at an arbitrary resolution.
[0014]
[Means for Solving the Problems]
  The present inventionbyThe three-dimensional measurement endoscope device inserts an insertion portion into a body cavity,Observation light for observing the subject, measurement light for measuring the shape of the subject,An endoscope that projectsConnectedIn the three-dimensional measurement endoscope apparatus that measures the shape of the subject from the reflected light of the measurement light from the endoscope,Measurement range selection means for selecting a measurement range for an observation image by the observation light;,According to the measurement range selection by the measurement range selection meansA magnification / focus adjustment means for adjusting the magnification and focus of the measurement light projection lens for projecting the measurement light, and a distance calculation means for calculating a distance to the subject according to a set value of the magnification / focus adjustment means; It is characterized by having,The measurement range selection means can select the measurement range in stages, and an extraction means for extracting reflected light of the measurement light,3D image processing means for performing shape calculation by comparing reference data stored in advance with the reflected light data extracted by the extracting means;,Reference position storage means for storing a reference emission position of the measurement light,An emission position detecting means for detecting a current emission position of the measurement light;,An emission direction correction unit that corrects an emission direction of the measurement light by comparing a reference emission position stored in the reference position storage unit with an emission position detected by the emission position detection unit;,It is provided with.
[0015]
  In the three-dimensional measurement endoscope apparatus of the present invention,The measurement range is selected for the observation image by the observation light by the measurement range selection means, and the measurement range is selected by the measurement range selection means.The magnification / focus adjustment means adjusts the magnification and focus of the measurement light projection lens that projects the measurement light, and the distance calculation means determines the distance to the subject according to the set value of the magnification / focus adjustment means. CalculateYeah.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0017]
1 to 4 relate to a first embodiment of the present invention, FIG. 1 is a configuration diagram showing a configuration of a three-dimensional measurement endoscope apparatus, and FIG. 2 is a configuration of a measurement light adjusting lens system of FIG. FIG. 3 is a sectional view showing a longitudinal section of the measuring light adjusting lens system in FIG. 2, and FIG. 4 is an explanatory view for explaining the operation of the three-dimensional measuring endoscope apparatus in FIG.
[0018]
(Constitution)
As shown in FIG. 1, the three-dimensional measurement endoscope apparatus 1 of the present invention includes an insertion portion 2 to be inserted into a body cavity, and images the observation site 3 in the body cavity and performs three-dimensional measurement in the body cavity. A slit-shaped measurement light is generated and supplied to the endoscope 4 by a combination of a mirror 4, an observation illumination light source 5 that supplies illumination light for observation to the endoscope 4, a semiconductor laser, and a cylindrical lens. The image signal of the measurement light projection light source 6 and the observation part 3 imaged by the endoscope 4 is signal-processed to generate a video signal of an endoscopic image of the observation part 3 and a three-dimensional video signal in the body cavity. And a signal processing device 7 to be generated.
[0019]
An observation light guide 8 that transmits illumination light supplied from the observation illumination light source 5 is inserted in the endoscope 4, and white light emitted from the lamp 9 of the observation illumination light source 5 is converted into the lamp 9. And a rotating filter 11 disposed between the observation light guide 8 and the incident end face, which is rotationally driven by a motor 10 and includes a red light transmitting portion, a green light transmitting portion, a blue light transmitting portion, and a non-transmitting portion. Via the incident end face of the observation light guide 8. The endoscope 4 is also inserted with a measurement light transmission image guide 12 for transmitting measurement light supplied from the measurement light projection light source 6.
[0020]
An observation illumination lens 13 is provided in front of the exit end of the observation light guide 8 in the distal end portion of the endoscope 4, and the illumination light transmitted by the observation light guide 8 is the observation light guide 8. The observation part 3 in the body cavity is irradiated through the observation illumination lens 13.
[0021]
In addition, a measurement illumination lens 14 is also provided in front of the exit end of the measurement light transmission image guide 12 in the distal end portion of the endoscope 4. The measurement light transmitted by the measurement light transmission image guide 12 is The measurement light transmission image guide 12 emits light from the emission end face and is irradiated into the body cavity via the measurement projection lens 14. A measurement light adjusting lens system 15 described later is provided on the exit end side of the image guide 12 for measuring light transmission, and the measuring light adjusting lens system 15 is movable in the optical axis direction by the drive unit 16. ing.
[0022]
The image of the observation site 3 and the return light of the measurement light are picked up by a solid-state image pickup device 18 such as a CCD through an objective adjustment lens system 17 driven by the drive unit 16 in the distal end portion of the endoscope 4. An imaging signal is output to the process circuit 19 of the signal processing device 7.
[0023]
The motor and the solid-state imaging device 18 are driven by a driving circuit 20 for the motor 10 and a driving circuit 21 for the solid-state imaging device 18 of the signal processing device 7, respectively, and these driving circuits 20, 21 and the measurement light projection light source 6. Is controlled and driven by a synchronization signal from the synchronization circuit 22, and the rotation drive of the rotary filter 11 by the drive circuit 20 and the drive of the measuring light projection light source 6 by the drive circuit 21 are synchronized signals from the synchronization circuit 22. In synchronism with this, red light, green light, blue light and measurement light are sequentially irradiated into the body cavity.
[0024]
The signal processing device 7 amplifies the imaging signal from the solid-state imaging device 18, the A / D converter 23 that converts the output of the process circuit 19 into a digital signal, and the A / D converter 23. Is selectively distributed to the four memories at the subsequent stage, and each of the R memory 25, the G memory 26, the B memory 27, and the measurement memory 28 is provided with a multiplexer 24. Signals corresponding to illumination by red light, green light, blue light, and measurement light are distributed and input by the multiplexer 24 in synchronization with the rotation drive and the drive of the measurement light projection light source 6.
[0025]
The signal processing device 7 also includes a video signal processing circuit 29 that inputs each signal stored in the R memory 25, the G memory 26, and the B memory 27 to generate an endoscope video signal, and a video signal processing circuit. A D / A converter 31 that converts the output of 29 into an analog signal and outputs the analog signal to a display 30 that is used as an observation monitor; a measurement processing circuit 32 that calculates the concavo-convex shape of the subject from the signal stored in the measurement memory 28; Based on the calculation result of the measurement processing circuit 32, a three-dimensional video processing circuit 34 for drawing a graphic representing a three-dimensional shape such as a bird's-eye view and a contour map on a display 33 displayed as a three-dimensional measurement image display monitor, and three types of fixed A measurement magnification selection unit 35 for selecting a measurement magnification by magnification, and a first data in which reference data for distance calculation according to the magnification selected by the measurement magnification selection unit 35 is stored. Based on the selection of the close-up table (hereinafter abbreviated as LUT) 36, the second LUT 37 and the third LUT 38, and the measurement magnification selector 35, one of the first LUT 36, the second LUT 37 and the third LUT 38 is selected and the measurement processing circuit 32 And an LUT selection unit 39 that outputs reference data for distance calculation.
[0026]
Note that the selection signal of the measurement magnification selection unit 35 is also output to the measurement light projection light source 6 and the drive unit 16, and the measurement light projection light source 6 and the drive unit 16 optimizes according to the measurement range based on this selection signal. A slit-shaped measurement light with a long length is irradiated into the body cavity.
[0027]
As shown in FIG. 2, the measurement light adjusting lens system 15 provided on the output end side of the measurement light transmission image guide 12 includes an electromagnetic coil 42 driven by a drive unit 16 wound around the outer periphery of the fixing member 41. Further, as shown in FIG. 3 which is a longitudinal section of the measuring light adjusting lens system 15, a fixed member 41 has a movable member 43 made of a permanent magnet or the like, and a flexible member 43 fixed to the electromagnetic member. A lens 44 that is movable by a coil 42 is provided.
[0028]
The electromagnetic coil 42 may be built in along the cylinder of the insertion section itself of the endoscope 4 or the inner cylinder of the forceps channel instead of the built-in method as shown in FIG. There is no need to incorporate the endoscope 4 inside.
[0029]
(Function)
Next, the operation of the embodiment configured as described above will be described.
[0030]
The illumination light emitted from the observation illumination light source 5 is sequentially converted into red light, green light, blue light, and non-transmission by the rotation of the rotary filter 11 by the motor 10, and the observation light transmission light guide 8 and the observation illumination lens 13 are converted. Illuminate the observation site 3 via. When the opaque part of the rotary filter 11 is inserted in the optical path, the measurement light projection light source 6 emits light based on the synchronization signal from the synchronization circuit 22, and the measurement light transmission image guide 12 and the measurement light adjustment lens. A slit-shaped measurement light is projected onto the observation site 3 via the system 15 and the measurement projection lens 14.
[0031]
The observation region 3 illuminated in this way is imaged on the solid-state image sensor 18 by the objective adjustment lens system 17. The solid-state imaging device 18 is operated by the drive circuit 21 in synchronization with the rotation of the rotary filter 11 based on the synchronization signal from the synchronization circuit 22, and the signal of the image of the observation region 3 by red light, green light, blue light, and measurement light. Are sequentially output, and this signal is amplified and processed by the process circuit 19.
[0032]
Thereafter, the analog signal is converted into a digital signal by the A / D converter 23, and is distributed to each R memory 25, G memory 26, B memory 27 and measurement memory 28 by the multiplexer 24. That is, an image signal based on red light is transferred to the R memory 25, an image signal based on green light is transferred to the G memory 26, an image signal based on blue light is transferred to the B memory 27, and an image signal based on measurement light is transferred to the measurement memory 28. Input and memorize.
[0033]
The image signal for normal observation stored in the R memory 25, the G memory 26, and the B memory 27 is subjected to various processes such as gamma correction and contour correction in the video processing circuit 29, and is then subjected to D / A The signal is converted into an analog signal by the converter 31 and a color image is displayed on the display 30.
[0034]
On the other hand, from the image signal based on the measurement light stored in the measurement memory 28, only the component of the reflected light from the slit-shaped measurement light projected by the measurement processing circuit 32 is extracted. Since this signal is a signal in which the slit-shaped measurement light is projected onto the subject and the form changes according to the unevenness of the subject, it is applied to any of the first LUT 36, the second LUT 37, and the third LUT 38 selected by the LUT selection circuit 39. By comparing with reference position data measured and stored in advance, the concavo-convex shape of the observation site 3 is calculated, processed into a graphic representing the three-dimensional shape by the three-dimensional image processing circuit 34, and displayed on the display 33. An image is displayed.
[0035]
Here, although the input method (mouse, trackball, etc.) is not particularly illustrated, the user can select the observation region 3 displayed on the display 30 (for two-dimensional display) as shown in FIG. While viewing the endoscopic video image, the measurement magnification selection unit 35 selects the measurement range of the three-dimensional shape measurement as shown in FIGS.
[0036]
When a measurement range is selected by the measurement magnification selection unit 35, a control signal corresponding to the selection is generated and transmitted to the drive unit 16 and the LUT selection circuit 39. The driving unit 16 generates a plus or minus current having a magnitude corresponding to the control signal, and transmits the plus or minus current to the measurement light adjusting lens system 15 and the objective adjusting lens system 17.
[0037]
In the measuring light adjusting lens system 15, as shown in FIG. 3, a current 44 flows in the electromagnetic coil 42, and the lens 44 fixed to the movable member 43 that slides between the fixed members 41 moves back and forth. Moving. The structure of the objective adjustment lens system 17 is the same as that of the measurement light adjustment lens system 15 except for the optical system data and dimensions of the lens, and the description thereof will be omitted.
[0038]
Accordingly, the measurement light adjusting lens system 15 operates to supply slit-shaped measurement light having an optimum length corresponding to the measurement range. Further, by changing the magnification of the objective adjusting lens system 17 from the case where a large area is imaged as in FIG. 4A, gradually as shown in FIGS. 4B and 4C. As the magnification is increased, a small area is imaged by the solid-state imaging device 18 having the same number of pixels, so that only a small area can be measured, but the resolution is increased.
[0039]
Furthermore, since only the imaging area of the measurement light changes only by changing the magnification of the lens system as described above, data of each distance between the observation site 3 and the distal end portion of the endoscope 4 for each lens magnification. Is selected from the first LUT 36, the second LUT 37, and the third LUT 38 by the LUT selection circuit 39, and the distance between the observation site 3 and the distal end portion of the endoscope 4 is calculated. ing.
[0040]
(effect)
As described above, according to the present embodiment, the user can perform shape measurement in an arbitrary range by the operation of the measurement light adjusting lens system 15 according to the shape of the observation site 3 and the purpose of use. Since the optimum measurement light can always be supplied, the measurement accuracy can be improved.
[0041]
In the present embodiment, the objective adjustment lens system 17 and the measurement light adjustment lens system 15 of the three-dimensional measurement endoscope apparatus 1 are set to three stages of fixed magnifications in consideration of cost and the like, but the number of LUTs is increased. However, if the selection means is appropriately provided, it is obvious that measurement at an arbitrary magnification is possible.
[0042]
In the present embodiment, an example in which the lens adjustment mechanism is used as a zoom lens has been described. However, if this is applied to focus adjustment, optimum measurement without blur is always achieved regardless of the distance to the observation region 3. Since light can be generated, measurement accuracy can be increased.
[0043]
Furthermore, this embodiment can be easily used not only for the measurement light projection lens of the three-dimensional measurement endoscope apparatus 1 but also for an objective lens system used for normal observation.
[0044]
Further, in the embodiment, the distance calculation between the observation site 3 and the distal end portion of the endoscope 4 is performed by comparing with the value stored in advance in the LUT, but it is not always necessary to use the LUT. The distance between the observation site 3 and the distal end portion of the endoscope 4 may be replaced with a polynomial approximate expression using a variable as a variable. In this case, by switching the coefficient of the polynomial approximation according to the fixed magnification, not only the effect is obtained as described above, but also only the coefficient is stored, so the data is saved much more than the LUT. Therefore, the memory capacity can be reduced.
[0045]
5 and 6 relate to the second embodiment of the present invention, FIG. 5 is a block diagram showing the configuration of the main part in the distal end portion of the endoscope, and FIG. 6 is a block diagram showing the configuration of the control unit in FIG. It is.
[0046]
Since the second embodiment is almost the same as the first embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0047]
(Constitution)
In the distal end portion of the endoscope 4 of the present embodiment, as shown in FIG. 5, the measurement light adjusting lens system in the first embodiment is sequentially placed in front of the emission end face of the measurement light transmission image guide 12. 15, an auxiliary lens 51 that can deflect incident light by a control voltage at an arbitrary angle, a front end half prism 53 that divides measurement light in two directions, and a front end half prism 53. And a light position detector 54 made of a two-dimensional PSD or the like that detects the light position with one of the measurement lights divided by the second measuring lens, and a second auxiliary lens between the light deflector 52 and the tip half prism 53. 55 is provided.
[0048]
And the control part 56 inputs the detection signal from the optical position detection part 54, and based on this detection signal, the drive signal which generates the control voltage for deflecting the light which the optical deflector 52 entered into arbitrary angles The generation circuit 57 is controlled.
[0049]
Further, as shown in FIG. 6, the control unit 56 includes a reference position storage unit 61 that stores data of a reference emission position of measurement light, for example, emission position of measurement light at the time of manufacture, and the reference position storage unit 61. An optical position comparison unit 62 that compares the stored reference emission position of the measurement light with the position of the measurement light detected by the optical position detection unit 54, and a correction signal output unit 63 that generates a correction signal according to the comparison result. It is composed of
[0050]
Other configurations are the same as those of the first embodiment.
[0051]
Note that the control unit 56 and the drive signal generation circuit 57 are not necessarily provided in the distal end portion of the endoscope 4.
[0052]
Although not specifically shown, in the present embodiment, the measurement light projection light source 6 can emit not only slit-shaped measurement light but also spot-shaped measurement light, and slit-shaped measurement light is generated during measurement. However, spot-shaped measuring light is generated when not measuring. For this purpose, a cylindrical lens for converting the spot-shaped measurement light of the semiconductor laser into the slit-shaped measurement light may be made removable on the optical axis in accordance with the measurement timing.
[0053]
(Function)
Next, the operation of the embodiment configured as described above will be described.
[0054]
The measurement light generated by the measurement light projection light source 6 is transmitted through the measurement light transmission image guide 12, the auxiliary lens 51, the optical deflector 52, and the auxiliary lens 55, and reaches the tip half prism 53.
[0055]
In the tip half prism 53, the optical path of the measurement light is divided into two, one is projected onto the observation site 3 via the measurement light projection lens 14, and the other is transmitted to the optical position detection unit 54. In the optical position detection unit 54, a voltage corresponding to the position of the measurement light is generated when the spot-like measurement light at the time of non-measurement is incident, and is output to the optical position comparison unit 62 in the control unit 56.
[0056]
The light position comparison unit 62 compares the difference between the data from the reference position storage unit 61 and the input data of the current measurement light emission position, and transmits the result to the correction signal output unit 63. The correction signal output unit 63 calculates a correction signal for canceling the data difference, and the drive signal generation circuit 57 converts it into a drive signal for the optical deflector 52. The optical deflector 52 deflects the measurement light incident according to the drive signal and emits it to the tip half prism 53.
[0057]
Although the description is omitted, the auxiliary lens 51 constitutes the measurement light adjusting lens system 15 in the first embodiment as described above, and the operation thereof is the same as that of the first embodiment. The operation is the same as in the first embodiment.
[0058]
(effect)
As described above, in this embodiment, in addition to the effects of the first embodiment, the measurement light emitted toward the subject is corrected and emitted using the non-measurement time. Therefore, it is possible to perform measurement with higher accuracy without being affected by a change in measurement light due to a change with time or a rapid bending of the optical fiber.
[0059]
In this embodiment, an example in which the positional deviation of the measurement light is detected, corrected, and emitted is shown, but instead of correcting the emission position, the data is shifted by the positional deviation when calculating the distance. It may be configured.
[0060]
7 and 8 relate to a third embodiment of the present invention, FIG. 7 is a block diagram showing the configuration of the main part in the distal end portion of the measurement probe, and FIG. 8 is a sectional view of the measurement light adjusting lens system of FIG. It is sectional drawing shown.
[0061]
Since the third embodiment is almost the same as the first embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0062]
(Constitution)
In this embodiment, members for projecting measurement light onto a subject (measurement light adjustment lens system 15, measurement light transmission image guide 12, measurement light projection lens 14, etc.) are incorporated in the insertion portion of the endoscope. Instead, as shown in FIG. 7, it is configured as a separate measurement probe 71. Although not shown, this measurement probe 71 is attached to a forceps channel generally provided in a normal endoscope. It is configured to measure by inserting.
[0063]
Further, instead of providing the winding of the electromagnetic coil 42 along the outer circumference of the cylinder of the measuring light adjusting lens system 15 (the fixing member 41 thereof) like the electromagnetic coil 42 of the first embodiment, the electromagnetic coil 72 is used as the measuring light. A winding of a part of the cylinder of the adjusting lens system 15 is provided.
[0064]
Further, as shown in FIG. 8, a spring member 73 is provided at a position on the outer circumference of the cylinder of the measuring light adjusting lens system 15 so as to avoid the electromagnetic coil 72, and the spring member 73 is a movable member of the measuring light adjusting lens system 15. The spring member 73 is covered with a rubber coating 74 around the spring member 73.
[0065]
Other configurations are the same as those of the first embodiment.
[0066]
(Function)
Next, the operation of the embodiment configured as described above will be described.
[0067]
As shown in FIG. 8, the movable member 43 is positioned in the unused range when the measurement probe 71 is not inserted into the forceps channel (not shown), and the measurement probe 71 is inserted into the forceps channel. Then, after aligning the tip with the reference position at the time of measurement, for example, the outlet of the forceps channel, it is moved to the use range by an instruction input from the user.
[0068]
When the movable member 43 moves to the use range, the thick part of the spring member 73 is pushed and widened, and the part of the rubber coating 74 is lifted from the inside and becomes wider than the diameter of the measurement probe 71. Therefore, the rubber coating 74 is brought into close contact with the inner wall of the forceps channel, and the position of the measurement probe 71 is fixed.
[0069]
The use range of the movable member 43 includes a margin, and this margin portion is used as the focus adjustment range of the measurement light.
[0070]
Other operations are the same as those in the first embodiment.
[0071]
(effect)
As described above, in this embodiment, in addition to the effects of the first embodiment, only the measurement probe 71 is inserted into the forceps channel of a general-purpose endoscope without providing a special fixing means such as a key groove. Since the positional relationship between the emission position of the measurement light and the image sensor can be accurately fixed, it is inexpensive and the measurement accuracy is improved.
[0072]
Further, not only by fixing the positional relationship, but also by using the focus adjustment together, it is possible to project the optimum measurement light without blur regardless of the distance to the subject.
[0073]
9 and 10 relate to the fourth embodiment of the present invention, FIG. 9 is a block diagram showing the configuration of the three-dimensional measurement endoscope apparatus, and FIG. 10 is an operation of the three-dimensional measurement endoscope apparatus of FIG. It is explanatory drawing explaining these.
[0074]
As shown in FIG. 9, the three-dimensional measurement endoscope apparatus 101 of the present embodiment includes an endoscope 102 having an insertion portion 106 inserted into a lumen, and the endoscope 102 with visible light. A light source unit 103 that supplies illumination light, a measurement light to the endoscope 102, a three-dimensional measurement unit 104 that receives reflected light from the subject of the measurement light and performs three-dimensional measurement, and a three-dimensional measurement And a display 105 for displaying the subject image.
[0075]
The endoscope 102 is provided at the flexible insertion portion 106 inserted into the lumen, an operation portion 107 provided at the rear end of the insertion portion 106, and a rear end of the operation portion 107. An eyepiece 108 and a universal cable 109 extended from the operation unit 107. At the end of the universal cable 109, a first connector detachably attached to the light source unit 103, and a three-dimensional measurement unit 104 is provided with a detachable second connector.
[0076]
The light source unit 103 includes a lamp 114 that is driven to emit light by a lamp driving circuit (not shown), and the white light emitted from the lamp 114 is condensed by a condenser lens 115 and is used for transmitting illumination light. The light is supplied to the light incident end of the guide 116. The white light is transmitted by the illumination light transmission light guide 116 inserted through the universal cable 109, the operation unit 107, and the insertion unit 106, and is further observed from the distal end surface fixed to the distal end of the insertion unit 106. And illuminates the subject side such as the affected part in the body cavity.
[0077]
An observation window is provided at the distal end of the insertion portion 106 adjacent to an illumination window to which an observation illumination lens 118 is attached. An observation objective lens 119 is attached to the observation window, and the image formation position is at the image formation position. Connect the optical image of the illuminated subject. At the imaging position, the front end surface of the observation image guide 121 is arranged, and the optical image is transmitted to the rear end surface by the observation image guide 121.
[0078]
An eyepiece lens 122 is provided on the eyepiece 108 facing the rear end surface, and an optical image transmitted by the observation image guide 121 via the eyepiece lens 122 can be observed with the naked eye.
[0079]
In addition, the endoscope 102 includes an insertion portion 106, an operation portion 107, and a measurement light transmission image guide 131 and a shape measurement image guide 132 in the universal cable 109, similarly to the illumination light transmission light guide 116. The light entrance end and the light exit end of the end portion of the universal cable 109 are connected to the three-dimensional measurement unit 104.
[0080]
The three-dimensional measurement unit 104 includes a laser beam scanning unit 130 that scans a laser beam. The laser beam scanning unit 130 includes a semiconductor laser (hereinafter abbreviated as a laser) 134 that is driven to emit light by a laser control circuit 133. The laser beam of the laser 134 is reflected by a polygon mirror 136 that is rotationally driven by a polygon drive motor 135, and this reflected light is further reflected by a galvano mirror 138 that is rotated by a galvano mirror control circuit 137. The light passes through the lens 139 and enters the light incident end of the measurement light transmission image guide 131.
[0081]
The polygon mirror 136 has a large number of mirror surfaces with the side parallel to the rotation axis of the polygon drive motor 135 as a regular polyhedron, and is rotated by the polygon drive motor 135 to transmit the laser beam in the horizontal plane for measuring light transmission. An angle scan corresponding to the horizontal width of the end face of the image guide 131 is performed. The polygon drive motor 135 is controlled by the polygon control circuit 140.
[0082]
Further, the galvano mirror 138 is reciprocally rotated in a range of a predetermined angle when a drive signal such as a triangular wave or a staircase wave is applied by the galvano mirror control circuit 137. In this case, the galvanometer mirror 138 is rotated around an axis included in a plane parallel to the horizontal plane.
[0083]
The light incident on the galvanometer mirror 138 is reflected and the reflection direction is scanned in the vertical direction. The laser light scanned in the horizontal direction and the vertical direction in this way is incident by the condenser lens 139 so as to scan the light incident surface of the measurement light transmission image guide 131 in the horizontal direction and the vertical direction.
[0084]
In this case, the polygon mirror 136 scans a laser spot in a line shape in the horizontal direction over the number of fibers passing through the diameter of the image guide 131 for measuring light transmission on one mirror surface, and the vertical direction between the scans The galvano mirror 138 moves in the vertical direction by the fiber pitch.
[0085]
Then, after scanning the entire area of the light incident surface of the image guide 131 for measuring light transmission in the horizontal direction and the vertical direction, the galvanometer mirror 138 is rotated in the opposite direction, and scans in one direction in the horizontal direction. However, scanning in the vertical direction is reversed (scanning back and forth).
[0086]
The distal end surface of the measurement light transmission image guide 131 is attached to the distal end portion of the insertion portion 106, and a measurement light projection lens 145 is provided opposite to the distal end surface, and transmitted by the measurement light projection lens 145. A laser spot is projected on the object side, and scanning of the projection spot corresponds to scanning at the light incident end.
[0087]
That is, scanning is performed in a certain direction on the subject side in correspondence with the horizontal scanning at the light incident end. In order to simplify the explanation, it is assumed that the subject side is also scanned in the horizontal direction by scanning in the horizontal direction at the light incident end.
[0088]
A shape measuring objective lens 146 is provided at the distal end of the insertion portion 106 adjacent to the measuring light projection lens 145, and the shape measuring objective lens 146 is projected onto the subject surface by the measuring light projection lens 145. The position of the laser spot thus formed is imaged on the tip surface of the image guide 132 for shape measurement arranged at the imaging position.
[0089]
Then, the light is transmitted to the light emitting end of the rear end face by the shape measuring image guide 132. An imaging adjusting lens system 147 is arranged opposite to the light emitting end, and the imaging adjusting lens system 147 forms an image on a tape-shaped fiber bundle array 148 having the end face arranged at the position of the imaging plane. .
[0090]
This tape-shaped fiber bundle array 148 has an array structure in which n tape-shaped fiber bundles 148 (1) to 148 (n) are laminated, and each tape-shaped fiber bundle 148 (i) (i = 1 to n) For example, one end of the number of fibers passing through the diameter of the measurement light transmission image guide 131 (or the shape measurement image guide 132) is fixed in a tape shape, and the other end is bundled in a round shape. Yes.
[0091]
At one end which becomes the light incident end, these tape-shaped fiber bundles 148 (1) to 148 (n) are arranged in a laminated structure, for example, become a square end surface, and the other end side which becomes the light emitting end is Each of the light receiving elements 149 (i) (i = 1 to n) is arranged in an array so as to face each of the end surfaces that are bundled in a circle and separated from each other, and emitted from each end surface. Each light is detected.
[0092]
The distance of each part of the subject is measured according to the principle of triangulation distance measurement. In the present embodiment, if the position of the reflected light along one direction is detected, the distance to the position of the subject corresponding to the detection is calculated. The tape-shaped fiber bundle array 148 having a configuration capable of calculation and having a function of detecting light in a direction perpendicular to one direction is used.
In the present embodiment, if the laser spot scanned through the measuring light projection lens 145 by the rotation of the polygon mirror 136 is, for example, in the horizontal direction, the laser spot is parallel to the horizontal direction in the shape measurement image guide 132. Each tape-shaped fiber bundle 148 (i) (i = 1 to n) in which fibers are arranged so that the light incident end spreads in a tape shape so as to have a light detection function only in the direction is a direction perpendicular to the horizontal direction. The position is detected in the vertical direction.
[0093]
The outputs of the light receiving elements 149 (i) (i = 1 to n) are amplified by the amplifiers 151 (i) (i = 1 to n), respectively, and then the comparator 153 has n channels and each amplifier 151 ( i) The outputs of (i = 1 to n) are compared. Then, the laser spot detection circuit 154 identifies the measurement light from the emission position of the spot measurement light based on the comparison result of the comparator 153, and measures in advance on an LUT (not shown) provided in the height information calculation circuit 155. The height of each reflected light is calculated by referring to the reference position data of the spot measuring light according to the distance to the subject that has been completed. The calculated height information is collectively stored in the frame memory 156 and displayed on the display 105.
[0094]
Also, a measurement magnification / position selection unit that arbitrarily changes the horizontal scanning interval / position and the vertical scanning interval / position of the spot measurement light by controlling the laser control circuit 133, the galvanometer mirror control circuit 137, and the polygon mirror control circuit 140. 157 is provided. The measurement magnification / position selection unit 157 also controls an imaging adjustment lens control circuit 158 that drives and controls the imaging adjustment lens system 147, and the imaging adjustment lens control circuit 158 controls the imaging adjustment lens system 147. It is driven in the same manner as the measurement light adjusting lens system 15 of the first embodiment.
[0095]
(Function)
Next, the operation of the embodiment configured as described above will be described.
[0096]
With the above configuration, spot-shaped measurement light in the laser beam scanning unit 130 is generated by the laser 134. The laser control circuit 133 controls ON / OFF of the light emission of the laser 134 and the light emission output.
[0097]
The spot-shaped measurement light is scanned in the horizontal direction as the polygon mirror 136 is rotated by the polygon mirror drive motor 135. The polygon mirror control circuit 140 controls the rotation speed and rotation angle of the polygon mirror drive motor 135.
[0098]
Accordingly, by controlling the ON / OFF of the light emission of the laser 134 and the rotation of the polygon mirror 136 in combination, measurement light having an arbitrary horizontal scanning speed can be obtained at an arbitrary horizontal position.
[0099]
The horizontally scanned measurement light is subjected to vertical scanning by a galvanometer mirror 138. Note that the galvano mirror control circuit 137 controls the rotation speed and angle of the galvano mirror 138.
[0100]
Therefore, by controlling the rotation of the galvanometer mirror 138, measurement light having an arbitrary vertical scanning speed can be obtained at an arbitrary vertical position.
[0101]
As will be described later, the measurement light that can be scanned at the arbitrary position (horizontal / vertical) and the arbitrary scanning (horizontal / vertical) speed is sent from the measurement magnification / position selection unit 157 to the laser control circuit 133, galvanometer mirror This can be obtained by controlling the control circuit 137 and the polygon mirror control circuit 140 in relation to each other.
[0102]
The measurement light is projected onto the measurement light transmission image guide 131 by the lens 139, guided to the measurement projection lens 145 at the distal end of the endoscope by the measurement light transmission image guide 131, and projected onto the subject.
[0103]
Then, the reflected light of the measurement light applied to the subject is detected by the shape measurement objective lens 146 and shifted from the reference position according to the shape of the subject, and the image adjustment lens 147 is detected by the shape measurement image guide 132. Led up to.
[0104]
The imaging adjustment lens 147 has a focal position that changes based on an instruction from the imaging adjustment lens control circuit 158, and is arbitrarily input to the incident side of n sets of tape-like fibers 148 (1) to 148 (n). The reflected light can be imaged at an enlargement ratio of. This enlargement rate is also controlled by the measurement magnification / position selection unit 157.
[0105]
The reflected light imaged on the incident side of the tape-shaped fibers 148 (1) to 148 (n) is collected on the emission side and guided to n light receiving elements 149 (1) to 149 (n). Amplifying circuits 151 (1) to 151 (151) so that the weak reflected light received by each of the light receiving elements 149 (1) to 149 (n) has the same characteristics by correcting variations in each tape-like fiber and each light receiving element. By comparing the output of each amplifier circuit with the comparator 153 amplified in (n) and having n channels, it is specified which light receiving element has detected the reflected light.
[0106]
The measurement light is identified by the laser spot detection circuit 154 based on the data from the comparator 153 and the emission position of the spot measurement light obtained from the known rotation angle and rotation speed of the polygon mirror 136 and the galvanometer mirror 138. The height of each reflected light is calculated by referring to the reference position data of the spot measurement light according to the distance to the subject that has been measured in advance in the LUT provided in the information calculation circuit 155. Instead of using the LUT reference, a distance relationship between subjects may be set as a coefficient in advance, and calculation using a polynomial approximation formula may be used.
[0107]
The calculated height information is stored together in the frame memory 156 and displayed on the display 105.
[0108]
On the display 105, as shown in FIG. 10, a measurable range is marked as a measurement range instruction frame 161 in a normal two-dimensional image.
[0109]
In the measurement magnification / position selection unit 157, a specific input method (such as a mouse) is not shown, but the laser control circuit 133 and the galvanomirror control circuit 137 are selected according to the measurement magnification / position selected by the user. By controlling the polygon mirror control circuit 140, the horizontal scanning interval / position and the vertical scanning interval / position of the spot measurement light are arbitrarily changed.
[0110]
Further, in conjunction with the measurement magnification / position selection unit 157, the image adjustment is performed so that the light emitted from the image adjustment lens 147 always uses the entire surface of the tape-shaped fiber bundle 148 (i) (i = 1 to n). The lens control circuit 158 is also controlled.
[0111]
(effect)
For example, spot measurement light scanning is performed 256 times in the vertical direction and 256 times in the horizontal direction. In this case, naturally, the number of pixels of the tape-shaped fiber bundle array 148 also corresponds to 256 × 256.
[0112]
Whether the entire surface of the subject is measured or a part of the subject is measured, the imaging adjustment lens 147 operates so that the same number of times the measurement light is scanned and the entire surface of the tape-shaped fiber bundle array 148 is used. The smaller the measurement area, the better the analytical performance per unit area.
[0113]
Therefore, when the user selects a magnification using the measurement magnification / position selection unit 157, the entire surface of the subject can be measured although the resolution is low in the case of FIG.
[0114]
However, in the case of FIG. 10B, although the resolution is high, only a part of the subject center can be measured. However, since the scanning position of the spot measurement light can be shifted as shown in FIG. 10C, it is not necessary to subject the endoscope to angle measurement or the like and forcibly put the subject in the measurement range. Therefore, it can be measured at any site and it will be less painful for the patient.
[0115]
In the present embodiment, the resolution is automatically determined by selecting the measurement range of the three-dimensional measurement endoscope apparatus 101. However, for example, the number of spot measurement lights generated is fixed with the measurement range and resolution fixed. If it is reduced, the incident time of reflected light per unit time increases, so that detection when the distance to the subject is far and the reflected light is weak becomes easy, and if the resolution is not particular, the measurement time can be shortened.
[0116]
11 and 12 relate to the fifth embodiment of the present invention, FIG. 11 is a block diagram showing the configuration of the three-dimensional measurement endoscope apparatus, and FIG. 12 is an operation of the three-dimensional measurement endoscope apparatus of FIG. It is explanatory drawing explaining these.
[0117]
Since the fifth embodiment is almost the same as the fourth embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0118]
(Constitution)
In the present embodiment, as shown in FIG. 11, in addition to the configuration of the fourth embodiment, an image recognition unit 171 that recognizes an image stored in the frame memory 156 and data from the image recognition unit 171 The measurement position holding unit 172 that holds the data, and the data held in the measurement position holding unit 172 and the data sent from the image recognition unit 171 are compared, and the measurement position / magnification selection unit 157 is controlled so that they match. The measurement position follower 173 to be added is added.
[0119]
Other configurations are the same as those in the fourth embodiment.
[0120]
(Function)
Next, the operation of the embodiment configured as described above will be described.
[0121]
In the present embodiment, the image recognizing unit 171 extracts the features of the mucous membrane and the lesioned part from the image stored in the frame memory 156, and sends the extracted data to the measurement position holding unit 172 and the measurement position tracking unit 173. .
[0122]
In the measurement position holding unit 172, as shown in FIG. 12A, when the user designates a place to be measured, the measurement range instruction frame 181 is indicated by a double frame, and the extraction sent from the image recognition unit 171 at that time is displayed. Retain data. Of course, the measurement range instruction frame 181 is not a double frame, and for example, the color of the frame may be changed.
[0123]
The measurement position tracking unit 173 compares the extracted data held in the measurement position holding unit 172 with new extracted data that is a feature of the image sent from the image recognition unit 171 so that the two match. As shown in FIG. 12B, the measurement position / magnification selection unit 157 is instructed to shift the measurement position.
[0124]
In the case of the present embodiment, the feature is extracted from the obtained three-dimensional shape. However, the present invention is not limited to this, and the feature may be extracted from a normal two-dimensional image. You may add extracting a characteristic from the condition of a color change.
[0125]
Other operations are the same as those in the fourth embodiment.
[0126]
(effect)
As described above, in this embodiment, in addition to the effects of the fourth embodiment, once the location of measurement is instructed, the measurement location automatically moves following the movement of the subject. It is also possible to deal with cases where it is difficult to measure the same position.
[0127]
Note that the measurement position holding unit 172 includes the patient ID. By adding and holding multiple index data such as NO and measurement location, it is easy to give instructions when performing follow-up observation of the lesion, and the change in the lesion is obvious and very effective. It is.
[0128]
[Appendix]
(Additional Item 1) An endoscope that inserts an insertion portion into a body cavity and projects measurement light onto a subject, and a three-dimensional measurement endoscope that measures the shape of the subject from reflected light of the measurement light from the endoscope In the mirror device,
Magnification / focus adjustment means for adjusting the magnification and focus of the measurement light projection lens that projects the measurement light;
Distance calculating means for calculating a distance to the subject according to a set value of the magnification / focus adjusting means;
A three-dimensional measurement endoscope apparatus comprising:
[0129]
(Additional Item 2) The distance calculation means performs calculation by switching a plurality of lookup tables.
Item 3. The three-dimensional measurement endoscope apparatus according to additional item 1.
[0130]
(Additional Item 3) The distance calculation means performs calculation by switching a plurality of coefficients of a polynomial approximation formula.
Item 3. The three-dimensional measurement endoscope apparatus according to additional item 1.
[0131]
(Additional Item 4) The distance calculation means switches the resolution according to the area to be measured.
Item 3. The three-dimensional measurement endoscope apparatus according to additional item 1.
[0132]
(Additional Item 5) The distance calculation means switches the measurement time according to the resolution.
Item 3. The three-dimensional measurement endoscope apparatus according to additional item 1.
[0133]
(Additional Item 6) The magnification / focus adjustment means is an electronic coil means provided along a cylinder in the insertion portion.
Item 3. The three-dimensional measurement endoscope apparatus according to additional item 1.
[0134]
(Additional Item 7) Display means for displaying on the screen a projection range of the measurement light according to the magnification of the measurement light projection lens by the magnification / focus adjustment means.
The three-dimensional measurement endoscope apparatus according to appendix 1, wherein the three-dimensional measurement endoscope apparatus is provided.
[0135]
(Additional Item 8) Projection range moving means for arbitrarily moving the measurement range of the measurement light according to the magnification of the measurement light projection lens
The three-dimensional measurement endoscope apparatus according to appendix 1, wherein the three-dimensional measurement endoscope apparatus is provided.
[0136]
(Additional Item 9) Designating means for designating the subject within the projection range of the measurement light arbitrarily moved by the projection range means;
Recognizing means for recognizing the shape or color of the subject;
Tracking means for moving the projection range of the measurement light so as to follow the specified subject;
The three-dimensional measurement endoscope apparatus according to appendix 8, characterized by comprising:
[0137]
(Additional Item 10) The designation unit holds a plurality of designated data, adds index data for identifying the data to the data, and identifies and selects the data.
The three-dimensional measurement endoscope apparatus according to appendix 9, wherein
[0138]
(Additional Item 11) An endoscope that inserts an insertion portion into a body cavity and projects measurement light onto a subject, and a three-dimensional measurement endoscope that measures the shape of the subject from reflected light of the measurement light from the endoscope In the mirror device,
Detection means for detecting an emission angle of the measurement light;
Correction means for correcting the emission angle of the measurement light;
A three-dimensional measurement endoscope apparatus comprising:
[0139]
(Additional Item 12) An endoscope that inserts an insertion portion into a body cavity, a measurement light projection probe that is inserted into a forceps channel of the endoscope and projects measurement light onto a subject, and a measurement light projection probe In the three-dimensional measurement endoscope apparatus that measures the shape of the subject from the reflected light of the measurement light,
A member for pressing the inner wall of the forceps channel of the endoscope is provided on the measurement light projection probe.
A three-dimensional measuring endoscope apparatus characterized by the above.
[0140]
(Additional Item 13) Electronic coil means for adjusting the magnification and focus of the measurement light projection lens that projects the measurement light,
The member presses the inner wall of the forceps channel in combination with driving of the measurement light projection lens by the electronic coil means.
Item 15. The three-dimensional measurement endoscope apparatus according to Additional Item 12.
[0141]
【The invention's effect】
  As described above, according to the three-dimensional measurement endoscope apparatus of the present invention,AlwaysTherefore, there is an effect that it is possible to perform measurement at an arbitrary resolution and supply of the optimum measurement light.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing a configuration of a three-dimensional measurement endoscope apparatus according to a first embodiment of the present invention.
FIG. 2 is a configuration diagram showing the configuration of the measurement light adjusting lens system of FIG.
3 is a sectional view showing a longitudinal section of the measuring light adjusting lens system of FIG. 2;
4 is an explanatory diagram for explaining the operation of the three-dimensional measurement endoscope apparatus of FIG. 1; FIG.
FIG. 5 is a configuration diagram showing a configuration of a main part in an endoscope distal end portion according to a second embodiment of the present invention.
6 is a configuration diagram showing the configuration of the control unit in FIG. 5;
FIG. 7 is a configuration diagram showing a configuration of a main part in a distal end portion of a measurement probe according to a third embodiment of the present invention.
8 is a cross-sectional view showing a cross section of the measurement light adjusting lens system in FIG. 7;
FIG. 9 is a configuration diagram showing a configuration of a three-dimensional measurement endoscope apparatus according to a fourth embodiment of the present invention.
10 is an explanatory diagram for explaining the operation of the three-dimensional measurement endoscope apparatus of FIG. 9;
FIG. 11 is a configuration diagram showing a configuration of a three-dimensional measurement endoscope apparatus according to a fifth embodiment of the present invention.
12 is an explanatory diagram for explaining the operation of the three-dimensional measurement endoscope apparatus of FIG.
[Explanation of symbols]
1 ... 3D measurement endoscope device
2 ... Insertion section
3 ... Observation site
4 ... Endoscope
5 ... Illumination light source for observation
6 ... Measuring light projection light source
7. Signal processing device
8. Light guide for observation
9 ... Lamp
10 ... Motor
11 ... Rotation filter
12. Image guide for measuring light transmission
13 ... Observation lens
14 ... Lighting lens for measurement
15 ... Measuring light adjustment lens system
16 ... Drive unit
17 ... Objective adjustment lens system
18 ... Solid-state imaging device
19 ... Process circuit
20, 21 ... Drive circuit
22: Synchronous circuit
23 ... A / D converter
24. Multiplexer
25 ... R memory
26 ... G memory
27 ... B memory
28 ... Memory for measurement
29 ... Video signal processing circuit
30, 33 ... Display
31 ... D / A converter
32. Measurement processing circuit
34 ... 3D image processing circuit
35 ... Measurement magnification selector
36 ... 1st LUT
37 ... Second LUT
38 ... 3rd LUT
39 ... LUT selection part
41 ... Fixing member
42 ... Electromagnetic coil
43. Movable member
44 ... Lens
Attorney Susumu Ito

Claims (4)

An insertion part is inserted into the body cavity and connected to an endoscope that projects observation light for observing the subject and measurement light for measuring the shape of the subject onto the subject, and the measurement from the endoscope In a three-dimensional measurement endoscope apparatus that measures the shape of the subject from reflected light of light,
Measurement range selection means for selecting a measurement range for an observation image by the observation light ;
Magnification / focus adjustment means for adjusting the magnification and focus of the measurement light projection lens that projects the measurement light according to the measurement range selected by the measurement range selection means ,
Distance calculating means for calculating a distance to the subject according to a setting value of the magnification / focus adjusting means;
A three-dimensional measurement endoscope apparatus comprising: The three-dimensional measurement endoscope apparatus according to claim 1, wherein the measurement range selection unit can select a measurement range in a stepwise manner . Extraction means for extracting reflected light of the measurement light ;
3D image processing means for performing shape calculation by comparing the reference data stored in advance with the reflected light data extracted by the extraction means ;
The three-dimensional measurement endoscope apparatus according to claim 1, further comprising: Reference position storage means for storing a reference emission position of the measurement light ;
An emission position detecting means for detecting a current emission position of the measurement light ;
An emission direction correction unit that corrects an emission direction of the measurement light by comparing a reference emission position stored in the reference position storage unit and an emission position detected by the emission position detection unit ;
The three-dimensional measurement endoscope apparatus according to any one of claims 1 to 3, further comprising:

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